Specific sense of "military servant" is attested from late 13c.; that of "officer whose duty is to enforce judgments of a tribunal or legislative body" is from c.1300 (sergeant at arms is attested from late 14c.). Meaning "non-commissioned military officer" first recorded 1540s. Originally a much more important rank than presently. As a police rank, in Great Britain from 1839.

Middle English alternative spelling serjeant (from Old French) was retained in Britain in special use as title of a superior order of barristers (c.1300, from legal Latin serviens ad legem, "one who serves (the king) in matters of law"), from which Common Law judges were chosen; also used of certain other officers of the royal household. sergeant-major is from 1570s. The sergeant-fish (1871) so-called for lateral markings resembling a sergeant's stripes. Related: Sergeancy.